5 files changed, 83 insertions, 64 deletions

diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml
index 57f6f5c67..d2829df99 100644
--- a/examples/rp/Cargo.toml
+++ b/examples/rp/Cargo.toml
@@ -22,6 +22,8 @@ lorawan = { version = "0.7.3", default-features = false, features = ["default-cr
 
 defmt = "0.3"
 defmt-rtt = "0.4"
+fixed = "1.23.1"
+fixed-macro = "1.2"
 
 #cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
 cortex-m = { version = "0.7.6", features = ["inline-asm"] }
diff --git a/examples/rp/src/bin/pio_async.rs b/examples/rp/src/bin/pio_async.rs
index 9f47c2316..12484e882 100644
--- a/examples/rp/src/bin/pio_async.rs
+++ b/examples/rp/src/bin/pio_async.rs
@@ -2,10 +2,13 @@
 #![no_main]
 #![feature(type_alias_impl_trait)]
 use defmt::info;
+use embassy_embedded_hal::SetConfig;
 use embassy_executor::Spawner;
 use embassy_rp::peripherals::PIO0;
-use embassy_rp::pio::{Common, Irq, Pio, PioPin, ShiftDirection, StateMachine};
+use embassy_rp::pio::{Common, Config, Irq, Pio, PioPin, ShiftDirection, StateMachine};
 use embassy_rp::relocate::RelocatedProgram;
+use fixed::traits::ToFixed;
+use fixed_macro::types::U56F8;
 use {defmt_rtt as _, panic_probe as _};
 
 fn setup_pio_task_sm0<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a, PIO0, 0>, pin: impl PioPin) {
@@ -21,15 +24,14 @@ fn setup_pio_task_sm0<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a,
     );
 
     let relocated = RelocatedProgram::new(&prg.program);
-    sm.use_program(&pio.load_program(&relocated), &[]);
+    let mut cfg = Config::default();
+    cfg.use_program(&pio.load_program(&relocated), &[]);
     let out_pin = pio.make_pio_pin(pin);
-    let pio_pins = [&out_pin];
-    sm.set_out_pins(&pio_pins);
-    sm.set_clkdiv((125e6 / 20.0 / 2e2 * 256.0) as u32);
-    sm.set_set_range(0, 1);
-
-    sm.set_autopull(true);
-    sm.set_out_shift_dir(ShiftDirection::Left);
+    cfg.set_out_pins(&[&out_pin]);
+    cfg.set_set_pins(&[&out_pin]);
+    cfg.clock_divider = (U56F8!(125_000_000) / 20 / 200).to_fixed();
+    cfg.shift_out.auto_fill = true;
+    sm.set_config(&cfg);
 }
 
 #[embassy_executor::task]
@@ -51,11 +53,12 @@ fn setup_pio_task_sm1<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a,
     let prg = pio_proc::pio_asm!(".origin 8", "set x, 0x15", ".wrap_target", "in x, 5 [31]", ".wrap",);
 
     let relocated = RelocatedProgram::new(&prg.program);
-    sm.use_program(&pio.load_program(&relocated), &[]);
-    sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32);
-    sm.set_set_range(0, 0);
-    sm.set_autopush(true);
-    sm.set_in_shift_dir(ShiftDirection::Right);
+    let mut cfg = Config::default();
+    cfg.use_program(&pio.load_program(&relocated), &[]);
+    cfg.clock_divider = (U56F8!(125_000_000) / 2000).to_fixed();
+    cfg.shift_in.auto_fill = true;
+    cfg.shift_in.direction = ShiftDirection::Right;
+    sm.set_config(&cfg);
 }
 
 #[embassy_executor::task]
@@ -81,8 +84,10 @@ fn setup_pio_task_sm2<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a,
         ".wrap",
     );
     let relocated = RelocatedProgram::new(&prg.program);
-    sm.use_program(&pio.load_program(&relocated), &[]);
-    sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32);
+    let mut cfg = Config::default();
+    cfg.use_program(&pio.load_program(&relocated), &[]);
+    cfg.clock_divider = (U56F8!(125_000_000) / 2000).to_fixed();
+    sm.set_config(&cfg);
 }
 
 #[embassy_executor::task]
diff --git a/examples/rp/src/bin/pio_dma.rs b/examples/rp/src/bin/pio_dma.rs
index 1c4e127c7..7f85288bf 100644
--- a/examples/rp/src/bin/pio_dma.rs
+++ b/examples/rp/src/bin/pio_dma.rs
@@ -2,11 +2,14 @@
 #![no_main]
 #![feature(type_alias_impl_trait)]
 use defmt::info;
+use embassy_embedded_hal::SetConfig;
 use embassy_executor::Spawner;
 use embassy_futures::join::join;
-use embassy_rp::pio::{Pio, ShiftDirection};
+use embassy_rp::pio::{Config, Pio, ShiftConfig, ShiftDirection};
 use embassy_rp::relocate::RelocatedProgram;
 use embassy_rp::Peripheral;
+use fixed::traits::ToFixed;
+use fixed_macro::types::U56F8;
 use {defmt_rtt as _, panic_probe as _};
 
 fn swap_nibbles(v: u32) -> u32 {
@@ -38,15 +41,21 @@ async fn main(_spawner: Spawner) {
     );
 
     let relocated = RelocatedProgram::new(&prg.program);
-    sm.use_program(&common.load_program(&relocated), &[]);
-    sm.set_clkdiv((125e6 / 10e3 * 256.0) as u32);
-    sm.set_autopull(true);
-    sm.set_autopush(true);
-    sm.set_pull_threshold(32);
-    sm.set_push_threshold(32);
-    sm.set_out_shift_dir(ShiftDirection::Right);
-    sm.set_in_shift_dir(ShiftDirection::Left);
+    let mut cfg = Config::default();
+    cfg.use_program(&common.load_program(&relocated), &[]);
+    cfg.clock_divider = (U56F8!(125_000_000) / U56F8!(10_000)).to_fixed();
+    cfg.shift_in = ShiftConfig {
+        auto_fill: true,
+        threshold: 32,
+        direction: ShiftDirection::Left,
+    };
+    cfg.shift_out = ShiftConfig {
+        auto_fill: true,
+        threshold: 32,
+        direction: ShiftDirection::Right,
+    };
 
+    sm.set_config(&cfg);
     sm.set_enable(true);
 
     let mut dma_out_ref = p.DMA_CH0.into_ref();
diff --git a/examples/rp/src/bin/pio_hd44780.rs b/examples/rp/src/bin/pio_hd44780.rs
index 40dee1c4d..61c5565d3 100644
--- a/examples/rp/src/bin/pio_hd44780.rs
+++ b/examples/rp/src/bin/pio_hd44780.rs
@@ -4,11 +4,12 @@
 
 use core::fmt::Write;
 
+use embassy_embedded_hal::SetConfig;
 use embassy_executor::Spawner;
 use embassy_rp::dma::{AnyChannel, Channel};
 use embassy_rp::peripherals::PIO0;
-use embassy_rp::pio::{Direction, FifoJoin, Pio, PioPin, ShiftDirection, StateMachine};
-use embassy_rp::pwm::{Config, Pwm};
+use embassy_rp::pio::{Config, Direction, FifoJoin, Pio, PioPin, ShiftConfig, ShiftDirection, StateMachine};
+use embassy_rp::pwm::{self, Pwm};
 use embassy_rp::relocate::RelocatedProgram;
 use embassy_rp::{into_ref, Peripheral, PeripheralRef};
 use embassy_time::{Duration, Instant, Timer};
@@ -29,7 +30,7 @@ async fn main(_spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
 
     let _pwm = Pwm::new_output_b(p.PWM_CH7, p.PIN_15, {
-        let mut c = Config::default();
+        let mut c = pwm::Config::default();
         c.divider = 125.into();
         c.top = 100;
         c.compare_b = 50;
@@ -83,7 +84,6 @@ impl<'l> HD44780<'l> {
     ) -> HD44780<'l> {
         into_ref!(dma);
 
-        let db7pin = db7.pin();
         let Pio {
             mut common,
             mut irq0,
@@ -118,13 +118,17 @@ impl<'l> HD44780<'l> {
         sm0.set_pin_dirs(Direction::Out, &[&rs, &rw, &e, &db4, &db5, &db6, &db7]);
 
         let relocated = RelocatedProgram::new(&prg.program);
-        sm0.use_program(&common.load_program(&relocated), &[&e]);
-        sm0.set_clkdiv(125 * 256);
-        sm0.set_out_pins(&[&db4, &db5, &db6, &db7]);
-        sm0.set_out_shift_dir(ShiftDirection::Left);
-        sm0.set_fifo_join(FifoJoin::TxOnly);
-        sm0.set_autopull(true);
-        sm0.set_pull_threshold(32);
+        let mut cfg = Config::default();
+        cfg.use_program(&common.load_program(&relocated), &[&e]);
+        cfg.clock_divider = 125u8.into();
+        cfg.set_out_pins(&[&db4, &db5, &db6, &db7]);
+        cfg.shift_out = ShiftConfig {
+            auto_fill: true,
+            direction: ShiftDirection::Left,
+            threshold: 32,
+        };
+        cfg.fifo_join = FifoJoin::TxOnly;
+        sm0.set_config(&cfg);
 
         sm0.set_enable(true);
         // init to 8 bit thrice
@@ -188,13 +192,15 @@ impl<'l> HD44780<'l> {
         );
 
         let relocated = RelocatedProgram::new(&prg.program);
-        sm0.use_program(&common.load_program(&relocated), &[&e]);
-        sm0.set_clkdiv(8 * 256); // ~64ns/insn
-        sm0.set_jmp_pin(db7pin);
-        sm0.set_set_pins(&[&rs, &rw]);
-        sm0.set_out_pins(&[&db4, &db5, &db6, &db7]);
-        sm0.set_out_shift_dir(ShiftDirection::Left);
-        sm0.set_fifo_join(FifoJoin::TxOnly);
+        let mut cfg = Config::default();
+        cfg.use_program(&common.load_program(&relocated), &[&e]);
+        cfg.clock_divider = 8u8.into(); // ~64ns/insn
+        cfg.set_jmp_pin(&db7);
+        cfg.set_set_pins(&[&rs, &rw]);
+        cfg.set_out_pins(&[&db4, &db5, &db6, &db7]);
+        cfg.shift_out.direction = ShiftDirection::Left;
+        cfg.fifo_join = FifoJoin::TxOnly;
+        sm0.set_config(&cfg);
 
         sm0.set_enable(true);
 
diff --git a/examples/rp/src/bin/ws2812-pio.rs b/examples/rp/src/bin/ws2812-pio.rs
index 889970541..d7c4742d8 100644
--- a/examples/rp/src/bin/ws2812-pio.rs
+++ b/examples/rp/src/bin/ws2812-pio.rs
@@ -3,10 +3,12 @@
 #![feature(type_alias_impl_trait)]
 
 use defmt::*;
+use embassy_embedded_hal::SetConfig;
 use embassy_executor::Spawner;
-use embassy_rp::pio::{Common, FifoJoin, Instance, Pio, PioPin, ShiftDirection, StateMachine};
+use embassy_rp::pio::{Common, Config, FifoJoin, Instance, Pio, PioPin, ShiftConfig, ShiftDirection, StateMachine};
 use embassy_rp::relocate::RelocatedProgram;
 use embassy_time::{Duration, Timer};
+use fixed_macro::fixed;
 use smart_leds::RGB8;
 use {defmt_rtt as _, panic_probe as _};
 pub struct Ws2812<'d, P: Instance, const S: usize> {
@@ -43,35 +45,30 @@ impl<'d, P: Instance, const S: usize> Ws2812<'d, P, S> {
         a.bind(&mut wrap_source);
 
         let prg = a.assemble_with_wrap(wrap_source, wrap_target);
+        let mut cfg = Config::default();
 
         // Pin config
         let out_pin = pio.make_pio_pin(pin);
 
         let relocated = RelocatedProgram::new(&prg);
-        sm.use_program(&pio.load_program(&relocated), &[&out_pin]);
+        cfg.use_program(&pio.load_program(&relocated), &[&out_pin]);
 
-        // Clock config
+        // Clock config, measured in kHz to avoid overflows
         // TODO CLOCK_FREQ should come from embassy_rp
-        const CLOCK_FREQ: u32 = 125_000_000;
-        const WS2812_FREQ: u32 = 800_000;
-
-        let bit_freq = WS2812_FREQ * CYCLES_PER_BIT;
-        let mut int = CLOCK_FREQ / bit_freq;
-        let rem = CLOCK_FREQ - (int * bit_freq);
-        let frac = (rem * 256) / bit_freq;
-        // 65536.0 is represented as 0 in the pio's clock divider
-        if int == 65536 {
-            int = 0;
-        }
-
-        sm.set_clkdiv((int << 8) | frac);
+        let clock_freq = fixed!(125_000: U24F8);
+        let ws2812_freq = fixed!(800: U24F8);
+        let bit_freq = ws2812_freq * CYCLES_PER_BIT;
+        cfg.clock_divider = clock_freq / bit_freq;
 
         // FIFO config
-        sm.set_autopull(true);
-        sm.set_fifo_join(FifoJoin::TxOnly);
-        sm.set_pull_threshold(24);
-        sm.set_out_shift_dir(ShiftDirection::Left);
-
+        cfg.fifo_join = FifoJoin::TxOnly;
+        cfg.shift_out = ShiftConfig {
+            auto_fill: true,
+            threshold: 24,
+            direction: ShiftDirection::Left,
+        };
+
+        sm.set_config(&cfg);
         sm.set_enable(true);
 
         Self { sm }